MDPS Blending Controller for Smooth Mode Transition
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Solution Overview
Problem
Autonomous vehicles experience output differences when switching between operation modes for motor-driven power steering (MDPS) control due to changes in vehicle speed, leading to reduced user stability and inconvenience.
Innovation Solution
An apparatus and method for controlling the MDPS system, which includes a driving information input unit, a command information input unit, and an MDPS controller that uses a weight-based correction to stabilize outputs during mode transitions by applying different weights based on vehicle speed, using a blending controller to combine steering angle and torque control signals.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the operation mode for MDPS control is changed from position control mode to torque control mode (or vice versa) in response to vehicle speed change, then the control adaptability to different driving conditions is improved, but an output difference is caused leading to reduced user stability
Solution Approach 1:
The patent implements dynamic mode blending by continuously adjusting the weighting factor between position control and torque control modes based on vehicle speed. Instead of abrupt mode switching, the system dynamically transitions between control strategies, maintaining stability while adapting to different driving conditions. The blending ratio is dynamically modified according to the blending vehicle speed range, ensuring smooth transitions and preventing output differences that would disrupt user stability.
Solution Approach 2:
The patent changes the control parameter blending ratio based on vehicle speed parameters. When vehicle speed is within the blending range, the system modifies the weighting factor between position control and torque control outputs. This parameter adjustment allows the system to maintain optimal control characteristics across different speed conditions while avoiding the instability caused by fixed mode switching.
2Stability of the object's composition
If a weight-based correction is applied to combine steering angle and torque control signals, then user stability during mode transitions is improved, but the device complexity increases
Solution Approach 1:
The patent introduces a blending controller as an intermediary component that combines the outputs of position control and torque control modes. This mediator applies a weighting factor to smoothly transition between control strategies, maintaining user stability during mode transitions. The blending controller acts as a buffer that prevents direct switching between modes, thereby reducing the impact on system complexity while achieving stable transitions.
Solution Approach 2:
The patent segments the control system into distinct functional blocks: position control unit, torque control unit, and blending controller. Each segment performs a specific function, and the blending controller combines their outputs using a weighting factor. This segmentation allows the system to maintain stability during transitions while keeping the overall architecture manageable and not excessively complex.
Data Source
AI summary
An apparatus for controlling an MDPS system includes a driving information input unit configured to detect driving information generated during autonomous driving of an autonomous vehicle and input the same to an MDPS controller; a command information input unit configured to input a command for controlling the autonomous vehicle to the MDPS controller in consideration of a road or route along which the autonomous vehicle is to drive, the command being generated by a command information input unit; and the MDPS controller configured to provide a final output that is corrected using a weight (K) set depending on a preset vehicle speed based on the information inputted from the driving information input unit and the command information input unit when the autonomous vehicle switches an operation mode for MDPS control depending on a change in the vehicle speed while driving in an autonomous driving mode.